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      1 /*
      2 Bullet Continuous Collision Detection and Physics Library
      3 Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
      4 
      5 This software is provided 'as-is', without any express or implied warranty.
      6 In no event will the authors be held liable for any damages arising from the use of this software.
      7 Permission is granted to anyone to use this software for any purpose,
      8 including commercial applications, and to alter it and redistribute it freely,
      9 subject to the following restrictions:
     10 
     11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
     12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
     13 3. This notice may not be removed or altered from any source distribution.
     14 */
     15 ///original version written by Erwin Coumans, October 2013
     16 
     17 
     18 #ifndef BT_PATH_SOLVER_H
     19 #define BT_PATH_SOLVER_H
     20 
     21 //#define BT_USE_PATH
     22 #ifdef BT_USE_PATH
     23 
     24 extern "C" {
     25 #include "PATH/SimpleLCP.h"
     26 #include "PATH/License.h"
     27 #include "PATH/Error_Interface.h"
     28 };
     29   void __stdcall MyError(Void *data, Char *msg)
     30 {
     31 	printf("Path Error: %s\n",msg);
     32 }
     33   void __stdcall MyWarning(Void *data, Char *msg)
     34 {
     35 	printf("Path Warning: %s\n",msg);
     36 }
     37 
     38 Error_Interface e;
     39 
     40 
     41 
     42 #include "btMLCPSolverInterface.h"
     43 #include "Dantzig/lcp.h"
     44 
     45 class btPathSolver : public btMLCPSolverInterface
     46 {
     47 public:
     48 
     49 	btPathSolver()
     50 	{
     51 		License_SetString("2069810742&Courtesy_License&&&USR&2013&14_12_2011&1000&PATH&GEN&31_12_2013&0_0_0&0&0_0");
     52 		e.error_data = 0;
     53 		e.warning = MyWarning;
     54 		e.error = MyError;
     55 		Error_SetInterface(&e);
     56 	}
     57 
     58 
     59 	virtual bool solveMLCP(const btMatrixXu & A, const btVectorXu & b, btVectorXu& x, const btVectorXu & lo,const btVectorXu & hi,const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true)
     60 	{
     61 		MCP_Termination status;
     62 
     63 
     64 		int numVariables = b.rows();
     65 		if (0==numVariables)
     66 			return true;
     67 
     68 			/*	 - variables - the number of variables in the problem
     69 			- m_nnz - the number of nonzeros in the M matrix
     70 			- m_i - a vector of size m_nnz containing the row indices for M
     71 			- m_j - a vector of size m_nnz containing the column indices for M
     72 			- m_ij - a vector of size m_nnz containing the data for M
     73 			- q - a vector of size variables
     74 			- lb - a vector of size variables containing the lower bounds on x
     75 			- ub - a vector of size variables containing the upper bounds on x
     76 			*/
     77 		btAlignedObjectArray<double> values;
     78 		btAlignedObjectArray<int> rowIndices;
     79 		btAlignedObjectArray<int> colIndices;
     80 
     81 		for (int i=0;i<A.rows();i++)
     82 		{
     83 			for (int j=0;j<A.cols();j++)
     84 			{
     85 				if (A(i,j)!=0.f)
     86 				{
     87 					//add 1, because Path starts at 1, instead of 0
     88 					rowIndices.push_back(i+1);
     89 					colIndices.push_back(j+1);
     90 					values.push_back(A(i,j));
     91 				}
     92 			}
     93 		}
     94 		int numNonZero = rowIndices.size();
     95 		btAlignedObjectArray<double> zResult;
     96 		zResult.resize(numVariables);
     97 		btAlignedObjectArray<double> rhs;
     98 		btAlignedObjectArray<double> upperBounds;
     99 		btAlignedObjectArray<double> lowerBounds;
    100 		for (int i=0;i<numVariables;i++)
    101 		{
    102 			upperBounds.push_back(hi[i]);
    103 			lowerBounds.push_back(lo[i]);
    104 			rhs.push_back(-b[i]);
    105 		}
    106 
    107 
    108 		SimpleLCP(numVariables,numNonZero,&rowIndices[0],&colIndices[0],&values[0],&rhs[0],&lowerBounds[0],&upperBounds[0], &status, &zResult[0]);
    109 
    110 		if (status != MCP_Solved)
    111 		{
    112 			static const char* gReturnMsgs[] = {
    113 				"Invalid return",
    114 				"MCP_Solved: The problem was solved",
    115 				"MCP_NoProgress: A stationary point was found",
    116 				"MCP_MajorIterationLimit: Major iteration limit met",
    117 				"MCP_MinorIterationLimit: Cumulative minor iteration limit met",
    118 				"MCP_TimeLimit: Ran out of time",
    119 				"MCP_UserInterrupt: Control-C, typically",
    120 				"MCP_BoundError: Problem has a bound error",
    121 				"MCP_DomainError: Could not find starting point",
    122 				"MCP_Infeasible: Problem has no solution",
    123 				"MCP_Error: An error occurred within the code",
    124 				"MCP_LicenseError: License could not be found",
    125 				"MCP_OK"
    126 			};
    127 
    128 			printf("ERROR: The PATH MCP solver failed: %s\n", gReturnMsgs[(unsigned int)status]);// << std::endl;
    129 			printf("using Projected Gauss Seidel fallback\n");
    130 
    131 			return false;
    132 		} else
    133 		{
    134 			for (int i=0;i<numVariables;i++)
    135 			{
    136 				x[i] = zResult[i];
    137 				//check for #NAN
    138 				if (x[i] != zResult[i])
    139 					return false;
    140 			}
    141 			return true;
    142 
    143 		}
    144 
    145 	}
    146 };
    147 
    148 #endif //BT_USE_PATH
    149 
    150 
    151 #endif //BT_PATH_SOLVER_H
    152